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WO2014057153A1 - Walker comprising mechanism for assisting a user in standing and sitting operations - Google Patents

Walker comprising mechanism for assisting a user in standing and sitting operations Download PDF

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Publication number
WO2014057153A1
WO2014057153A1 PCT/ES2013/070689 ES2013070689W WO2014057153A1 WO 2014057153 A1 WO2014057153 A1 WO 2014057153A1 ES 2013070689 W ES2013070689 W ES 2013070689W WO 2014057153 A1 WO2014057153 A1 WO 2014057153A1
Authority
WO
WIPO (PCT)
Prior art keywords
user
walker
lifting
sitting
support
Prior art date
Application number
PCT/ES2013/070689
Other languages
Spanish (es)
French (fr)
Inventor
Manuel Javier CESTARI SOTO
Daniel SANZ MERODIO
Juan Carlos ARÉVALO REGGETI
Elena GARCÍA ARMADA
Original Assignee
Consejo Superior De Investigaciones Científicas (Csic)
Universidad Politécnica de Madrid
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Consejo Superior De Investigaciones Científicas (Csic), Universidad Politécnica de Madrid filed Critical Consejo Superior De Investigaciones Científicas (Csic)
Priority to EP13845354.3A priority Critical patent/EP2907495A4/en
Priority to US14/434,817 priority patent/US20150265490A1/en
Publication of WO2014057153A1 publication Critical patent/WO2014057153A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness

Definitions

  • the present invention relates to a walker that incorporates a mechanism of assistance in lifting and sitting operations of a user.
  • Said walker adjustable in size to the user, comprises a powered or passive mechanical device that allows the user to sit down, keeping the walker fixed, to guarantee high stability thanks to the two degrees of freedom granted.
  • Said degrees of freedom are conferred on the user by means of a bar that pivots with respect to the walker and that moves along a rail and a linear sliding guide connected to the user's restraint system.
  • the walker is also considered as intelligent, since it has electronic means to manage various parameters that determine its operation, such as the speed of the user when walking or its weight, and will carry out, depending on these parameters, braking or assistance operations in user sitting and lifting operations.
  • the present invention is part of the mechanical engineering sector, and can be used particularly in the industrial field of the manufacture of devices and devices to assist the mobility of elderly or disabled people, in the field of rehabilitation and robotics of bipeds
  • the walkers are devices that increase the support base and ensure greater stability and balance of the user.
  • Today its use represents an alternative that contributes to the improvement in the quality of life and health of individuals with walking pathologies, difficulty in maintaining their own weight and heart failure, among Other conditions
  • the movement of the user of a walker is achieved through their locomotion skills, whether they are natural or externally assisted.
  • the use of walkers favors the exercise of the user's muscles, avoiding the rapid deterioration associated with wheelchairs and providing the user with psychological benefits of self-esteem.
  • the typical commercial walkers that support the weight of the user are oriented primarily to rehabilitation functions, and allow a single type of use, typically walking, making it impossible to implement them for daily activities or the incorporation of the user in a social environment regulate by being limited to a unique way.
  • Those devices that incorporate mechanisms to make it possible to sit, get up or perform muscle toning exercises, are characterized by large structures or rigid configuration systems that do not allow the adaptability of the devices depending on the user's requirements.
  • Document US6733018B2 presents a practical device that incorporates a system of pivoting bars that describe an arc at the point of connection between user and walker and the pivot point.
  • this device gives the user the possibility to sit and get up, it forces a movement of the walker's wheels in the horizontal plane to compensate for the natural movement at the time of sitting that does not present a constant radius, making the operations of sitting and raised are unsafe and even dangerous for certain users.
  • this restriction of movement causes an unnatural movement by the body of the user.
  • Document ES1053675U presents a conventional four-wheeled walker with a folding seat that allows the user to sit on the walker by their own means.
  • the use of four-wheel systems is known for allowing continuity in the user's walk and eliminates the need for the user to lift the walker to perform the next step, reducing physical demands.
  • Document US7150722B1 describes a walker intended to facilitate the walking of a person with a disability. This device requires the intervention of a collaborator or caregiver to secure the user to the walker and does not allow him to sit down once he is using it.
  • Document US8151812B2 like the aforementioned US6733018B2, describes a walker capable of supporting part of the user's weight, while presenting mechanisms of a degree of active freedom that allows the user to sit using the walker.
  • a mechanism of pivoting bars coupled to the user allows the movement of sitting and lifting, but having a single degree of freedom It needs a movement of the walker on the horizontal to achieve an adequate movement, not guaranteeing its safety without the presence of a collaborator.
  • the bar system makes use of compressed springs to facilitate weight lifting and the wheels feature a normally activated brake typically located on the walker's wheels.
  • the present invention refers to a walker of adjustable size, with intelligent functions for user assistance and which allows the user to sit and get up while being attached to the walker, allowing its use for the development of daily activities and ensuring adequate stability in those users that present greater motor limitations. So, said size walker Adjustable to the user presents intelligent mechanisms integrated in a control system that provide the user with greater security, as well as the possibility of sitting and getting up more autonomously and safely given the greater stability provided by the device.
  • the present invention relates to a walker with assistance mechanism in lifting and sitting operations of a user, comprising a support structure provided with displacement means, a user holding device to the walker and a locking system of the means of movement.
  • Said walker support structure in turn comprises:
  • At least one guide support fixed to the support structure, provided with travel stops at its ends that limits the movement of the pivoting arm in the longitudinal axis of the walker.
  • Each of said guide supports will be in correspondence with one of the pivoting arms; Y,
  • control module that controls the locking system of the movement means and which comprises means for selecting a working mode of the walker selected from "walking mode", "support mode” and "sitting / standing mode”.
  • the pivoting element of the pivoting arms comprises a sliding piece that slides by means of compressible sliding means between an adjustable lower stop and an adjustable upper stop, the joint joining the pivoting arm to the pivot element located in the sliding piece.
  • These tilting elements are generally located in the upper end of the walker's own support structure.
  • said sliding means comprise compression regulation means to regulate a user weight that supports the support structure of the walker.
  • the walker has means for fixing the at least one pivoting arm integrated in the at least one guide support and fixing means for the user holding device in the guide of the at least one pivoting arm.
  • These fixing means keep the pivoting arm fixed and in an upright position when they are active, so that they restrict the user's movement by keeping it upright.
  • these fixing means are activated, keeping the user in the sagittal plane of the walker.
  • these fixing means are activated or deactivated manually or automatically, so that in the case of automatic activation, the walker control module will have electrical means or pneumatic means to do so.
  • the walker has mechanical actuators inside the guide support that assist in user lifting and sitting operations.
  • the actuators act on the free end of the pivoting arms, so that pushing and separating said end of the sagittal plane of the walker helps in the sitting operation, while when they pull the end closer to the sagittal plane they help in the lifting operation.
  • the walker has mechanical actuators or the like, for example actuators, located between the support structure and the bottom stop of the tilting elements.
  • the actuators support part of the user's weight both in sitting and lifting operations and when the walker works in walking or support mode.
  • the actuator between the support structure and the lower stop of the tilting elements regulates the position of the lower stop for the pre-compression of the compression regulating means of the sliding means.
  • the control module comprises means for controlling the speed of the movement means to block the movement means.
  • the support structure comprises telescopic elements integrated in the structure itself to regulate the height and the area it occupies on the surface where the walker rests.
  • the user holding device comprises holding bars for the torso and femur that are adjusted to the user by means of adjustable straps.
  • Figure 1. Shows a perspective view of an embodiment of the walker object of the present invention that presents the pivoting arms in vertical position, corresponding to the walking mode or operating support of the walker.
  • Figure 2. It shows another perspective view of the walker shown in the previous figure, where the rotation of the arms that enables the operation of the walker in the way of sitting and standing is illustrated.
  • Figure 3. Shows a profile view of a natural sequence of sitting by means of the walker shown in figures 1 and 2, showing how the two degrees of freedom of the system allow to keep the center of mass of the user in the vertical axis and without movement of the walker.
  • Figure 4.- Shows a detailed perspective view of an embodiment of the control box where the control module object of the present invention is integrated.
  • Figure 5. It shows a perspective view of an embodiment of the walker with a coupled user.
  • Figure 6. They show a detailed view of an embodiment of the user holding device to the walker.
  • Figure 7. Shows a detailed view of the tilting elements in which the pivoting arms pivot with respect to the support structure of the walker.
  • Figure 8.- Shows a detailed perspective view of a particular embodiment of the wheels that are coupled to the bottom of the walker and the elements that fix them.
  • Figure 9. It shows a view of an example of realization of the mechanisms of assistance to the user in the operations of lifting and sitting, integrated in the structure of the walker and the guide supports.
  • Figures 1 and 2 show perspective views of the same embodiment of the walker (1) object of the present invention.
  • the adaptable support structure of the walker (1) is formed by tubular aluminum bars (6.7) inserted in hollow aluminum couplings (4.5) for a measurement of the base of the desired structure and adjusted either by some pressure device or tamping screws.
  • the tubular aluminum bars (8,9) fit each other to adjust the desired height of the walker (1) and are introduced into the vertical support of the hollow coupling (4).
  • a walker structure (1) that contains telescopic structures (6,7,8,9,10,32) for the regulation of the size where the chassis bars are extended or retracted (4,5,8 , 18,32) in order to regulate the size of the walker (1) and modify the support area in case of need for greater stability.
  • the vertical structure (8,9) provides stability in the sagittal plane to the user, the user joining it through a set of elements (12, 14, 31).
  • the walker (1) allows an operating mode that is selected from a walking mode, a support mode and a stand / sit mode. Specifically, Figure 1 shows the walker (1) arranged in walking or support mode.
  • the pivoting arms (14) are located in correspondence with the vertical structure (8,9) and fixed to the guide supports (11) by means of first fixing pieces (34) and the fixing device (20) of the user (21) to the walker (1) are also attached to the pivoting arm (14) by means of second fixing parts (35).
  • This fixing device (20) generally a harness, is placed before the user is coupled to the walker (1), whereby said walker has means for coupling and decoupling the user's fixing means once it It has been placed.
  • Figure 2 shows the walker arranged in a stand / sit mode, where the pivoting arms (14) and the fixing device (20) have been released from the fixing parts (34,35) respectively, thus allowing the user (21) sit and get up without moving the walker (1) in the longitudinal direction.
  • the walker (1) has a control module arranged inside a control box (15) that contains a series of electronic elements and a power source to provide the power required by the walker (1).
  • Said control box (15) allows activating the different modes of operation of the walker by means of operable buttons. It also has a brake (13) for blocking the walker (1).
  • the union of the pivoting arm (14) to the walker (1) is carried out through a sliding carriage (2) that guarantees a correct movement pattern in the user during sitting and lifting.
  • a set of front bars (10,18) support the control box (15) that contains the system power source, the manual brake (13) and the drive buttons (17).
  • the wiring of the control system is distributed by the structure within channels in the bars of the same to connect the wheel brakes (2,3) and the cables with the speed data signal of these.
  • the front wheels (2) are coupled to the base of the structure by means of their connecting elbow (36) which can be seen in more detail in Fig. 8, and the rear wheels (3) are fixed under pressure at the ends of the rear tubular bars (7) of the walker base (1).
  • the use of Crazy wheels (2) in the front of the walker and fixed wheels (3) in the rear could be established depending on the needs.
  • figure 3 shows the sitting operation of a user (21) by the walker (1) object of the present invention. Note how during the different stages shown the center of gravity of the user (21) remains stable, which means that the walker does not move along the longitudinal axis. Avoiding this longitudinal displacement, it is possible to provide the user with greater security when performing lifting and sitting operations.
  • FIG 4 shows a detailed view of an embodiment of the control box (15).
  • Said control box (15) in which the walker control system is located, has a normally active brake (13) available to the user who commands the wheel lock (2, 3), a control (16 ) that activates the mode of walking, support or sitting / lifting by operating the pins and a possible lifting system operated (see figure 9).
  • This control system has a programmed speed profile that guarantees user comfort, without sudden changes in speed and guaranteeing zero speeds when reaching the endpoints of the operation, upright or seated user. It also incorporates a series of operable buttons (17) that have functions such as brake regulation, support system graduation, etc.
  • the control system automatically records the speed of the wheels and according to the programming commands an emergency braking system for speed and operation braking.
  • Emergency braking will be activated by exceeding a previously established walker speed.
  • the operation braking is associated with the user's walking speed, being an intermittent braking that when the user takes a step, while leg is in the air, the wheels are locked ensuring its stability, and just before the heel rests on the ground, the wheels are released so that the user can move forward. So this type of braking is associated with the rate of passage of the user.
  • FIG 5 shows a perspective view of the user placed in the walker and fixed to it by means of a harness (20).
  • Said harness (20) in turn is fixed to the walker (1) by means of elements (31) that are guided along a sliding rail (33) coupled to the pivoting arm (14).
  • FIG 6 shows an embodiment of the user fastening system (21) to the walker (1), being adjustable to the torso and legs of the user by means of straps and connected to the guide (33) of the pivoting arm (14 ) by means of a slide with threaded boss on the fastening system.
  • Said user-walker joint is made through a harness type device (20), with torso support bars (24), adjusted by straps (22, 23), and bars (42) at the height of the femur adjusted to the legs by adjustable straps (25). These bars (42) at the height of the femur pivot with respect to the support bars (24) for the torso by means of two rotating discs (19).
  • FIG. 7 shows in detail the tilting element of the pivoting arm (14).
  • the stops (27, 28) are fixed under pressure at the top of the vertical bar (9), adjusting between them the adaptable couplings (30) and the sliding carriage (12), allowing a vertical displacement of maximum +2 cm for a force equivalent to half the weight of the user.
  • the pivoting arms (14) pivot at the junction point with the sliding carriage (12) through a bearing joint and fixed with a retaining ring.
  • the pivoting arms (14) are connected to the guide support (11) through a slide in the channel thereof (26).
  • the connecting element (31) of the fastening means (20) of the user (21) generally a waist harness, is moved.
  • Figure 8 shows in detail the wheels (2) that are coupled to the front part of the structure of the walker (6) by means of an elbow type attachment (36). They can rotate on an axle (38) like crazy wheels or be blocked by locking a mechanical stop (39) with the structure of the walker.
  • the braking system (39) is connected to the control box (15) and regulates the wheel lock.
  • a speed regulator (40) connected to the control system allows to evaluate the movement of the walker and integrate this signal to the walker control system to execute the necessary actions in front of different movements planned and not provided.
  • Figure 9 shows an embodiment of the invention in which mechanical actuators have been incorporated in the guides of the guide support, which help the user in lifting operations and in the walker's own support structure that assist in the regulation of the user's fixing device.
  • the operating modes of the walker object of the present invention the following are provided: a) Walking mode, (see Fig. 1) the pivoting arm (14) is at its minimum angle relative to the vertical (9 ) and the pin (34) is activated, blocking the rotations of the pivoting arm (14).
  • the clamping piece (31) that connects the guide (33) with the user
  • the sliding part (12) on which the pivoting arms (14) rotate allows a vertical displacement because it is connected to the upper (27) and lower (28) stops by medium of adaptable and adjustable elements (30) (see Fig. 7). In combination with the displacement of the walker (1), this vertical displacement results in the curve pattern described by the center of mass of an individual when walking.
  • the regulation of the stops (27, 28) that connect the sliding part (12) allows to regulate the compression of the adaptable supports (30) in order to increase or decrease the weight of the user (21) supported by the walker (one) .
  • This operation can be manual, by regulating the position of the stop (28) and therefore the load to be supported by the elastic elements, or automatically, by means of a mechanical actuator (44) attached to the side bars of the walker (9) in the automated configurations of the walker (see Fig. 9).
  • a mechanical actuator (44) attached to the side bars of the walker (9) in the automated configurations of the walker (see Fig. 9).
  • the pins (34,35) are deactivated, allowing the rotation of the pivot bar (14) on the shaft in the sliding part (12) and, guided by the support piece (11), this movement together with the possibility that the contact (27) can slide along a guide (33) allow the user (21) to sit or stand together with the walker, without the need for compensation of movement by the wheels (2,3) (see Fig. 3).
  • the sitting / lifting operation can be performed by the user's motor means or by using mechanical actuators (43) in the linear guides that control the rotation of the pivoting arms (14), allowing the user to reach the sitting or raised position of

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a walker (1) comprising a mechanism for assisting a user (21) in standing and sitting operations, comprising a supporting structure provided with movement means (2, 3), a device (20) for securing the user to the walker, and a system for blocking the movement means, where the supporting structure comprises at least one pivoting arm (14) that guides the device (20) for securing the user (21) to the walker, a guide support (11) that is fixed to the walker (1) and guides the arm (14), and a control module (15) that controls the system for blocking the movement means (2, 3) and comprises means for selecting a working mode of the walker, from "walking mode" and "sitting/standing" mode".

Description

ANDADOR CON MECANISMO DE ASISTENCIA EN OPERACIONES DE LEVANTADO Y SENTADO DE UN USUARIO  WALKER WITH ASSISTANCE MECHANISM IN LIFTING AND SITTING OPERATIONS OF A USER
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
La presente invención se refiere a un andador que incorpora un mecanismo de asistencia en operaciones de levantado y sentado de un usuario. Dicho andador, ajustable en talla al usuario, comprende un dispositivo mecánico accionado o pasivo que permite al usuario sentarse, manteniendo al andador fijo, para garantizarle una alta estabilidad gracias a los dos grados de libertad que le otorga. Dichos grados de libertad le son conferidos al usuario mediante una barra que pivota respecto del andador y que se desplaza a lo largo de un carril y una guia corredera lineal conectada al sistema de sujeción del usuario. Se considera además al andador como inteligente, ya que dispone de medios electrónicos para gestionar diversos parámetros que determinan su funcionamiento, como la velocidad del usuario al andar o su peso, y llevará cabo, en función de estos parámetros, operaciones de frenado o de ayuda en las operaciones de sentado y levantado del usuario. The present invention relates to a walker that incorporates a mechanism of assistance in lifting and sitting operations of a user. Said walker, adjustable in size to the user, comprises a powered or passive mechanical device that allows the user to sit down, keeping the walker fixed, to guarantee high stability thanks to the two degrees of freedom granted. Said degrees of freedom are conferred on the user by means of a bar that pivots with respect to the walker and that moves along a rail and a linear sliding guide connected to the user's restraint system. The walker is also considered as intelligent, since it has electronic means to manage various parameters that determine its operation, such as the speed of the user when walking or its weight, and will carry out, depending on these parameters, braking or assistance operations in user sitting and lifting operations.
La presente invención se enmarca en el sector de ingeniería mecánica, y se puede emplear particularmente en el ámbito industrial de la fabricación de dispositivos y aparatos de ayuda a la movilidad de personas mayores o con discapacidad, en el ámbito de la rehabilitación y la robótica de bípedos. The present invention is part of the mechanical engineering sector, and can be used particularly in the industrial field of the manufacture of devices and devices to assist the mobility of elderly or disabled people, in the field of rehabilitation and robotics of bipeds
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
Los andadores son dispositivos que aumentan la base de apoyo y aseguran una mayor estabilidad y equilibrio del usuario. Hoy día su utilización representa una alternativa que contribuye a la mejora en la calidad de vida y salud de individuos con patologías del caminar, dificultad para mantener su propio peso y deficiencias cardiacas, entre otras afecciones. El movimiento del usuario de un andador se logra a través de sus habilidades de locomoción ya sean naturales o externamente asistidas. La utilización de andadores favorece el ejercicio de los músculos del usuario, evitando el rápido deterioro asociado a las sillas de ruedas y brindando al usuario beneficios psicológicos de autoestima . The walkers are devices that increase the support base and ensure greater stability and balance of the user. Today its use represents an alternative that contributes to the improvement in the quality of life and health of individuals with walking pathologies, difficulty in maintaining their own weight and heart failure, among Other conditions The movement of the user of a walker is achieved through their locomotion skills, whether they are natural or externally assisted. The use of walkers favors the exercise of the user's muscles, avoiding the rapid deterioration associated with wheelchairs and providing the user with psychological benefits of self-esteem.
Los andadores comerciales típicos que soportan el peso del usuario están orientados primordialmente a funciones de rehabilitación, y permiten un solo tipo de modo de uso, típicamente el andar, imposibilitando su implementación para la realización de actividades cotidianas o la incorporación del usuario en un entorno social regular al estar limitados a un modo único. Aquellos dispositivos que incorporan mecanismos para posibilitar sentarse, levantarse o realizar ejercicios de tonificación del músculo, se caracterizan por estructuras de gran tamaño o sistemas de configuración rígida que no permiten la adaptabilidad de los dispositivos dependiendo de los requerimientos del usuario. El documento US6733018B2 presenta un dispositivo práctico que incorpora un sistema de barras pivotantes que describen un arco en el punto de unión entre usuario y andador y el punto de pivote. Sin embargo, aunque este dispositivo brinda al usuario la posibilidad de sentarse y levantarse, obliga a un movimiento de las ruedas del andador en el plano horizontal para compensar el movimiento natural al momento de sentarse que no presenta un radio constante, haciendo que las operaciones de sentado y levantado sean inseguras e incluso peligrosas para determinados usuarios. De igual manera, en caso de bloqueo en las ruedas del dispositivo, esta restricción de movimiento ocasiona un movimiento no natural por parte del cuerpo del usuario. The typical commercial walkers that support the weight of the user are oriented primarily to rehabilitation functions, and allow a single type of use, typically walking, making it impossible to implement them for daily activities or the incorporation of the user in a social environment regulate by being limited to a unique way. Those devices that incorporate mechanisms to make it possible to sit, get up or perform muscle toning exercises, are characterized by large structures or rigid configuration systems that do not allow the adaptability of the devices depending on the user's requirements. Document US6733018B2 presents a practical device that incorporates a system of pivoting bars that describe an arc at the point of connection between user and walker and the pivot point. However, although this device gives the user the possibility to sit and get up, it forces a movement of the walker's wheels in the horizontal plane to compensate for the natural movement at the time of sitting that does not present a constant radius, making the operations of sitting and raised are unsafe and even dangerous for certain users. Similarly, in case of blockage in the wheels of the device, this restriction of movement causes an unnatural movement by the body of the user.
Por otro lado, la incorporación de sistemas inteligentes para el control de andadores, adaptados a las necesidades del usuario y que contribuyan a la utilización de estos dispositivos para la realización de las actividades cotidianas de manera segura, incluso sin necesidad de personas de apoyo proporcionando al usuario mayor autonomía, se encuentra aún en fase de desarrollo y generalmente no incorporan muchos de los requerimientos para la cotidianeidad o están muy especializados para una función particular. On the other hand, the incorporation of intelligent systems for the control of walkers, adapted to the needs of the user and that contribute to the use of these devices for carrying out daily activities safely, even without the need for support people providing the user with greater autonomy, is still under development and generally does not incorporate many of the requirements for daily life or are very specialized for a function particular.
Además del anteriormente mencionado, existen un gran número de tipos y modelos de andadores que pueden clasificarse de acuerdo a sus funciones, características de adaptabilidad y funciones programables o automáticas. No obstante, en la actualidad son pocos los que inlcuyen suficientes elementos que permitan una integración de alto nivel en la sociedad de los usuarios con mayores requerimientos de asistencia. In addition to the aforementioned, there are a large number of types and models of walkers that can be classified according to their functions, adaptability characteristics and programmable or automatic functions. However, at present there are few that include enough elements that allow a high level integration into the society of users with greater assistance requirements.
El documento ES1053675U presenta un andador convencional sobre cuatro ruedas con un asiento abatible que permite al usuario sentarse sobre el andador por sus propios medios. La utilización de sistemas con cuatro ruedas es conocida por permitir una continuidad en el caminar del usuario y elimina la necesidad de que este deba levantar el andador para realizar el siguiente paso, reduciendo las exigencias físicas . Document ES1053675U presents a conventional four-wheeled walker with a folding seat that allows the user to sit on the walker by their own means. The use of four-wheel systems is known for allowing continuity in the user's walk and eliminates the need for the user to lift the walker to perform the next step, reducing physical demands.
El documento US7150722B1 describe un andador destinado a facilitar el caminar de una persona con discapacidad. Este dispositivo necesita de la intervención de un colaborador o cuidador para asegurar el usuario al andador y no le permite sentarse una vez lo esté utilizando. Document US7150722B1 describes a walker intended to facilitate the walking of a person with a disability. This device requires the intervention of a collaborator or caregiver to secure the user to the walker and does not allow him to sit down once he is using it.
El documento US8151812B2, al igual que el mencionado US6733018B2, describe un andador capaz de soportar parte del peso del usuario, a la vez que presenta mecanismos de un grado de libertad activo que permite al usuario sentarse haciendo uso del andador. Un mecanismo de barras pivotantes acopladas al usuario permite el movimiento de sentado y levantado, pero al contar con un solo grado de libertad se necesita un movimiento del andador sobre la horizontal para lograr un adecuado movimiento, no garantizando su seguridad sin la presencia de un colaborador. El sistema de barras hace uso de muelles comprimidos para facilitar el levantamiento del peso y las ruedas cuentan con un freno normalmente activado ubicado típicamente en las ruedas del andador . Document US8151812B2, like the aforementioned US6733018B2, describes a walker capable of supporting part of the user's weight, while presenting mechanisms of a degree of active freedom that allows the user to sit using the walker. A mechanism of pivoting bars coupled to the user allows the movement of sitting and lifting, but having a single degree of freedom It needs a movement of the walker on the horizontal to achieve an adequate movement, not guaranteeing its safety without the presence of a collaborator. The bar system makes use of compressed springs to facilitate weight lifting and the wheels feature a normally activated brake typically located on the walker's wheels.
El documento "Hirata, Y. Muraki, A. Kosuge, K. >Standing Up and Sitting Down support Using Intelligent Walker based on Estimation of User States' . IEEE international Conference on Mechatronics and Automation", describe el sistema de control de un andador con ruedas para apoyo del usuario, basado en la posición del cuerpo en relación con una referencia en el andador, permitiendo al usuario controlar giros o frenar el andador mediante un sistema de frenado inteligente . The document "Hirata, Y. Muraki, A. Kosuge, K. > Standing Up and Sitting Down support Using Intelligent Walker based on Estimation of User States'. IEEE international Conference on Mechatronics and Automation", describes the control system of a walker with wheels for user support, based on the position of the body in relation to a reference in the walker, allowing the user to control turns or brake the walker through an intelligent braking system.
El documento "Martins, M., Santos, M., Frizera-Neto, A & Ceres, R. >Assistive Mobility devices focusing on Smart Walkers: Classification and review' , Robotics and Automation Systems 60 (2012) pp 553-560", presenta un estado del arte de las tecnologías inteligentes aplicadas en andadores para la asistencia de personas mayores y con discapacidades motoras. Resaltan el control del sistema de frenos, la necesidad de adaptabilidad al usuario y la posibilidad de que el dispositivo soporte total o parcialmente el peso del usuario. DESCRIPCIÓN DE LA INVENCIÓN The document "Martins, M., Santos, M., Frizera-Neto, A & Ceres, R. > Assistive Mobility devices focusing on Smart Walkers: Classification and review ', Robotics and Automation Systems 60 (2012) pp 553-560" , presents a state of the art of intelligent technologies applied in walkers for the assistance of elderly people with motor disabilities. They highlight the control of the brake system, the need for user adaptability and the possibility that the device fully or partially supports the user's weight. DESCRIPTION OF THE INVENTION
La presente invención hace referencia a un andador de talla ajustable, con funciones inteligentes para la asistencia del usuario y que permite a éste sentarse y levantarse estando unido al andador, permitiendo su utilización para el desarrollo de actividades cotidianas y garantizando una adecuada estabilidad en aquellos usuarios que presenten mayores limitaciones motoras. Así, dicho andador de talla ajustable al usuario presenta mecanismos inteligentes integrados en un sistema de control que proporcionan al usuario mayor seguridad, asi como la posibilidad de sentarse y levantarse de forma más autónoma y segura dada la mayor estabilidad proporcionada por el dispositivo. The present invention refers to a walker of adjustable size, with intelligent functions for user assistance and which allows the user to sit and get up while being attached to the walker, allowing its use for the development of daily activities and ensuring adequate stability in those users that present greater motor limitations. So, said size walker Adjustable to the user presents intelligent mechanisms integrated in a control system that provide the user with greater security, as well as the possibility of sitting and getting up more autonomously and safely given the greater stability provided by the device.
Asi pues, la presente invención se refiere a un andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, que comprende una estructura de soporte dotada de medios de desplazamiento, un dispositivo de sujeción del usuario al andador y un sistema de bloqueo de los medios de desplazamiento. Dicha estructura de soporte del andador comprende a su vez: Thus, the present invention relates to a walker with assistance mechanism in lifting and sitting operations of a user, comprising a support structure provided with displacement means, a user holding device to the walker and a locking system of the means of movement. Said walker support structure in turn comprises:
- al menos un brazo pivotante que pivota por uno de sus extremos respecto de la estructura de soporte mediante un elemento pivote y que comprende una guia para el desplazamiento del dispositivo de sujeción del usuario a lo largo del brazo;  - at least one pivoting arm that pivots at one of its ends with respect to the support structure by means of a pivot element and comprising a guide for the movement of the user holding device along the arm;
al menos un soporte guia, fijado a la estructura de soporte, dotado de topes de desplazamiento en sus extremos que limita el desplazamiento del brazo pivotante en el eje longitudinal del andador. Cada uno de dichos soportes guias estará en correspondencia con uno de los brazo pivotantes; y,  at least one guide support, fixed to the support structure, provided with travel stops at its ends that limits the movement of the pivoting arm in the longitudinal axis of the walker. Each of said guide supports will be in correspondence with one of the pivoting arms; Y,
- un módulo de control que controla el sistema de bloqueo de los medios de desplazamiento y que comprende medios de selección de un modo de trabajo del andador seleccionado entre "modo andar", "modo soporte" y "modo sentarse/levantarse" .  - a control module that controls the locking system of the movement means and which comprises means for selecting a working mode of the walker selected from "walking mode", "support mode" and "sitting / standing mode".
En una realización particular del andador objeto de la presente invención, el elemento pivote de los brazos pivotantes comprende una pieza deslizante que se desliza mediante unos medios deslizantes comprimibles entre un tope inferior regulable y un tope superior regulable, estando la articulación que une el brazo pivotante al elemento pivote situado en la pieza deslizante. Estos elementos de basculación se encuentran generalmente situados en el extremo superior de la propia estructura soporte del andador . In a particular embodiment of the walker object of the present invention, the pivoting element of the pivoting arms comprises a sliding piece that slides by means of compressible sliding means between an adjustable lower stop and an adjustable upper stop, the joint joining the pivoting arm to the pivot element located in the sliding piece. These tilting elements are generally located in the upper end of the walker's own support structure.
En otra realización particular de la presente invención, los mencionados medios deslizantes comprenden medios de regulación de la compresión para regular un peso del usuario que soporta la estructura de soporte del andador. In another particular embodiment of the present invention, said sliding means comprise compression regulation means to regulate a user weight that supports the support structure of the walker.
En otra realización particular de la presente invención, el andador dispone de medios de fijación del al menos un brazo pivotante integrados en el menos un soporte guia y medios de fijación del dispositivo de sujeción del usuario en la guia del al menos un brazo pivotante. Estos medios de fijación mantienen el brazo pivotante fijo y en posición vertical cuando están activos, de manera que restringen el movimiento del usuario manteniéndolo erguido. Asi, cuando el usuario selecciona o bien el modo andar o el modo soporte del andador y una vez éste está de pie, estos medios de fijación se activan, manteniendo al usuario en al plano sagital del andador. Además, se ha previsto que estos medios de fijación se activen o desactiven de forma manual o automática, de manera que en el caso de disponer de activación automática, el módulo de control del andador dispondrá de medios eléctricos o medios neumáticos para hacerlo. Por lo tanto se ha previsto la inclusión de cableado eléctrico, mangueras de distribución neumáticas o pasadores solenoides en la estructura de soporte controlados por el módulo de control. En otra realización particular de la presente invención, el andador dispone de accionadores mecánicos en el interior del soporte guia que asisten las operaciones de levantado y sentado del usuario. Los accionadores actúan sobre el extremo libre de los brazos pivotantes, de manera que al empujar y separar dicho extremo del plano sagital del andador ayudan en la operación de sentado, mientras que cuando tiran del extremo acercándolo al plano sagital ayudan en la operación de levantado. En otra realización particular de la presente invención se ha previsto que el andador disponga de accionadores mecánicos o similares, por ejemplo actuadores, situados entre la estructura de soporte y el tope inferior de los elementos de basculación. Dichos accionadores soportan parte del peso del usuario tanto en las operaciones de sentado y levantado como cuando el andador trabaja en modo andar o soporte. Asi, el actuador que se sitúa entre la estructura de soporte y el tope inferior de los elementos de basculación regula la posición del tope inferior para la pre-compresión de los medios de regulación de la compresión de los medios deslizantes. En otra realización particular de la presente invención el módulo de control comprende medios de control de la velocidad de los medios de desplazamiento para bloquear los medios de desplazamiento. En otra realización particular de la presente invención la estructura de soporte comprende elementos telescópicos integrados en la propia estructura para regular la altura y el área que ocupa sobre la superficie donde se apoya el andador . In another particular embodiment of the present invention, the walker has means for fixing the at least one pivoting arm integrated in the at least one guide support and fixing means for the user holding device in the guide of the at least one pivoting arm. These fixing means keep the pivoting arm fixed and in an upright position when they are active, so that they restrict the user's movement by keeping it upright. Thus, when the user selects either the walking mode or the support mode of the walker and once it is standing, these fixing means are activated, keeping the user in the sagittal plane of the walker. In addition, it is provided that these fixing means are activated or deactivated manually or automatically, so that in the case of automatic activation, the walker control module will have electrical means or pneumatic means to do so. Therefore, the inclusion of electrical wiring, pneumatic distribution hoses or solenoid pins in the support structure controlled by the control module is provided. In another particular embodiment of the present invention, the walker has mechanical actuators inside the guide support that assist in user lifting and sitting operations. The actuators act on the free end of the pivoting arms, so that pushing and separating said end of the sagittal plane of the walker helps in the sitting operation, while when they pull the end closer to the sagittal plane they help in the lifting operation. In another particular embodiment of the present invention it is provided that the walker has mechanical actuators or the like, for example actuators, located between the support structure and the bottom stop of the tilting elements. These actuators support part of the user's weight both in sitting and lifting operations and when the walker works in walking or support mode. Thus, the actuator between the support structure and the lower stop of the tilting elements regulates the position of the lower stop for the pre-compression of the compression regulating means of the sliding means. In another particular embodiment of the present invention the control module comprises means for controlling the speed of the movement means to block the movement means. In another particular embodiment of the present invention, the support structure comprises telescopic elements integrated in the structure itself to regulate the height and the area it occupies on the surface where the walker rests.
En otra realización particular de la presente invención el dispositivo de sujeción del usuario comprende barras de sujeción para el torso y fémur que se ajustan al usuario mediante correas ajustables. In another particular embodiment of the present invention the user holding device comprises holding bars for the torso and femur that are adjusted to the user by means of adjustable straps.
BREVE DESCRIPCIÓN DE LAS FIGURAS BRIEF DESCRIPTION OF THE FIGURES
Figura 1.- Muestra una vista en perspectiva de un ejemplo de realización del andador objeto de la presente invención que presenta los brazo pivotantes en posición vertical, correspondiente al modo andar o soporte de funcionamiento del andador. Figura 2.- Muestra otra vista en perspectiva del andador mostrado en la figura anterior, donde se ilustra la rotación de los brazos que habilita el funcionamiento del andador en modo de sentarse y levantarse. Figure 1.- Shows a perspective view of an embodiment of the walker object of the present invention that presents the pivoting arms in vertical position, corresponding to the walking mode or operating support of the walker. Figure 2.- It shows another perspective view of the walker shown in the previous figure, where the rotation of the arms that enables the operation of the walker in the way of sitting and standing is illustrated.
Figura 3.- Muestra una vista de perfil de una secuencia natural de sentado mediante el andador mostrado en las figuras 1 y 2, mostrándose cómo los dos grados de libertad del sistema permiten conservar el centro de masa del usuario en el eje vertical y sin movimiento del andador. Figure 3.- Shows a profile view of a natural sequence of sitting by means of the walker shown in figures 1 and 2, showing how the two degrees of freedom of the system allow to keep the center of mass of the user in the vertical axis and without movement of the walker.
Figura 4.- Muestra una vista detallada en perspectiva de un ejemplo de realización de la caja de control donde se integra el módulo de control objeto de la presente invención. Figure 4.- Shows a detailed perspective view of an embodiment of the control box where the control module object of the present invention is integrated.
Figura 5.- Muestra una vista en perspectiva de un ejemplo de realización del andador con un usuario acoplado. Figura 6.- Muestran una vista en detalle de un ejemplo de realización del dispositivo de sujeción del usuario al andador . Figure 5.- It shows a perspective view of an embodiment of the walker with a coupled user. Figure 6.- They show a detailed view of an embodiment of the user holding device to the walker.
Figura 7.- Muestra una vista en detalle de los elementos de basculación en los que pivota los brazos pivotantes respecto de la estructura de soporte del andador. Figure 7.- Shows a detailed view of the tilting elements in which the pivoting arms pivot with respect to the support structure of the walker.
Figura 8.- Muestra una vista detallada en perspectiva de un ejemplo particular de realización de las ruedas que se acoplan en la parte inferior de andador y los elementos que las fijan a él. Figure 8.- Shows a detailed perspective view of a particular embodiment of the wheels that are coupled to the bottom of the walker and the elements that fix them.
Figura 9.- Muestra una vista de una ejemplo de realización de los mecanismos de asistencia al usuario en las operaciones de levantado y sentado, integrados en la estructura del andador y de los soportes guia. DESCRIPCIÓN DE VARIOS EJEMPLOS DE REALIZACIÓN DE LA Figure 9.- It shows a view of an example of realization of the mechanisms of assistance to the user in the operations of lifting and sitting, integrated in the structure of the walker and the guide supports. DESCRIPTION OF VARIOUS EXAMPLES OF REALIZATION OF THE
INVENCIÓN  INVENTION
Seguidamente se realiza, con carácter ilustrativo y no limitativo, una descripción de varios ejemplos de realización de la invención, haciendo referencia a la numeración adoptada en las figuras. Next, a description of several embodiments of the invention is made, by way of illustration and not limitation, with reference to the numbering adopted in the figures.
Las figuras 1 y 2 muestran vistas en perspectiva de un mismo ejemplo de realización del andador (1) objeto de la presente invención. En este ejemplo de realización, la estructura de soporte adaptable del andador (1) está formada por barras tubulares de aluminio (6,7) introducidas en acoples huecos de aluminio (4,5) para una medida de la base de la estructura deseada y ajustada ya sea por algún dispositivo de presión o tornillos apisonadores. Las barras tubulares de aluminio (8,9) se calzan entre si para ajusfar la altura deseada del andador (1) y se introducen en el soporte vertical del acople hueco (4) . Asi pues, se cuenta con una estructura de andador (1) que contiene estructuras telescópicas (6,7,8,9,10,32) para la regulación del tamaño donde se extienden o retraen las barras del chasis (4,5,8,18,32) a fin de regular la talla del andador (1) y modificar el área de apoyo en caso de necesidad de mayor estabilidad. La estructura vertical (8,9) proporciona la estabilidad en el plano sagital al usuario, uniéndose el usuario a ella a través de un conjunto de elementos (12, 14, 31) . El andador (1) permite un modo de operación que se selecciona entre un modo andar, un modo soporte y un modo para levantarse/sentarse. Concretamente la figura 1 muestra el andador (1) dispuesto en modo andar o soporte. En ambos casos los brazo pivotantes (14) se encuentran situados en correspondencia con la estructura vertical (8,9) y fijados a los soportes guias (11) mediante unas primeras piezas de fijación (34) y el dispositivo de fijación (20) del usuario (21) al andador (1) se encuentran también fijado a los brazo pivotantes (14) mediante unas segundas piezas de fijación (35) . Este dispositivo de fijación (20), generalmente un arnés, se coloca al usuario antes de que este se acople al andador (1), por lo que dicho andador dispone de medios para acoplar y desacoplar los medios de fijación del usuario una vez éste los lleva colocados. Por su parte, la figura 2 muestra el andador dispuesto en modo levantarse/sentarse, donde los brazo pivotantes (14) y el dispositivo de fijación (20) se han liberado de las piezas de fijación (34,35) respectivamente, permitiendo asi al usuario (21) sentarse y levantarse sin que se produzca el desplazamiento del andador (1) en dirección longitudinal. Figures 1 and 2 show perspective views of the same embodiment of the walker (1) object of the present invention. In this exemplary embodiment, the adaptable support structure of the walker (1) is formed by tubular aluminum bars (6.7) inserted in hollow aluminum couplings (4.5) for a measurement of the base of the desired structure and adjusted either by some pressure device or tamping screws. The tubular aluminum bars (8,9) fit each other to adjust the desired height of the walker (1) and are introduced into the vertical support of the hollow coupling (4). Thus, there is a walker structure (1) that contains telescopic structures (6,7,8,9,10,32) for the regulation of the size where the chassis bars are extended or retracted (4,5,8 , 18,32) in order to regulate the size of the walker (1) and modify the support area in case of need for greater stability. The vertical structure (8,9) provides stability in the sagittal plane to the user, the user joining it through a set of elements (12, 14, 31). The walker (1) allows an operating mode that is selected from a walking mode, a support mode and a stand / sit mode. Specifically, Figure 1 shows the walker (1) arranged in walking or support mode. In both cases the pivoting arms (14) are located in correspondence with the vertical structure (8,9) and fixed to the guide supports (11) by means of first fixing pieces (34) and the fixing device (20) of the user (21) to the walker (1) are also attached to the pivoting arm (14) by means of second fixing parts (35). This fixing device (20), generally a harness, is placed before the user is coupled to the walker (1), whereby said walker has means for coupling and decoupling the user's fixing means once it It has been placed. For its part, Figure 2 shows the walker arranged in a stand / sit mode, where the pivoting arms (14) and the fixing device (20) have been released from the fixing parts (34,35) respectively, thus allowing the user (21) sit and get up without moving the walker (1) in the longitudinal direction.
Además, el andador (1) dispone de un módulo de control dispuesto en el interior de una caja de control (15) que contiene una serie de elementos electrónicos y una fuente de energía para proveer la potencia requerida por el andador (1) . Dicha caja de control (15) permite activar los distintos modos de operación del andador a través de botones accionables. También dispone de un freno (13) para el bloqueo del andador (1) . La unión del brazo pivotante (14) al andador (1) se realiza a través de un carro deslizante (2) que garantiza un correcto patrón de movimiento en el usuario durante el sentado y levantado. Un conjunto de barras frontales (10,18) soportan la caja de control (15) que contiene la fuente de energía del sistema, el freno manual (13) y los botones de accionamiento (17) . El cableado del sistema de control se distribuye por la estructura dentro de canales en las barras de la misma para conectar los frenos de las ruedas (2,3) y los cables con la señal de datos de velocidad de estas. In addition, the walker (1) has a control module arranged inside a control box (15) that contains a series of electronic elements and a power source to provide the power required by the walker (1). Said control box (15) allows activating the different modes of operation of the walker by means of operable buttons. It also has a brake (13) for blocking the walker (1). The union of the pivoting arm (14) to the walker (1) is carried out through a sliding carriage (2) that guarantees a correct movement pattern in the user during sitting and lifting. A set of front bars (10,18) support the control box (15) that contains the system power source, the manual brake (13) and the drive buttons (17). The wiring of the control system is distributed by the structure within channels in the bars of the same to connect the wheel brakes (2,3) and the cables with the speed data signal of these.
Las ruedas delanteras (2) se acoplan a la base de la estructura por medio de su codo de unión (36) que puede observarse en más detalle la Fig. 8, y las ruedas traseras (3) se fijan a presión en los extremos de las barras tubulares traseras (7) de la base del andador (1) . Nótese que en esta realización particular se ha previsto el uso de ruedas locas (2) en la parte delantera del andador y de ruedas fijas (3) en la parte trasera, sin embargo, se podría establecer cualquier combinación de las mismas en función de las necesidades. The front wheels (2) are coupled to the base of the structure by means of their connecting elbow (36) which can be seen in more detail in Fig. 8, and the rear wheels (3) are fixed under pressure at the ends of the rear tubular bars (7) of the walker base (1). Note that in this particular embodiment the use of Crazy wheels (2) in the front of the walker and fixed wheels (3) in the rear, however, any combination of them could be established depending on the needs.
Por su parte la figura 3 muestra la operación de sentado de un usuario (21) mediante el andador (1) objeto de la presente invención. Nótese cómo durante las diferentes etapas mostradas el centro de gravedad del usuario (21) se mantienen estable, lo que hace que el andador no se desplace en el eje longitudinal. Evitando este desplazamiento longitudinal se consigue dotar al usuario de una mayor seguridad a la hora de realizar las operaciones de levantado y sentado. On the other hand, figure 3 shows the sitting operation of a user (21) by the walker (1) object of the present invention. Note how during the different stages shown the center of gravity of the user (21) remains stable, which means that the walker does not move along the longitudinal axis. Avoiding this longitudinal displacement, it is possible to provide the user with greater security when performing lifting and sitting operations.
La figura 4 muestra una vista en detalle de un ejemplo de realización de la caja de control (15) . Dicha caja de control (15), en la que se encuentra el sistema de control del andador, cuenta con un freno normalmente activo (13) al alcance del usuario que comanda el bloqueo de las ruedas (2, 3), un mando (16) que active el modo de andar, soporte o sentarse/levantarse accionando los pasadores y un posible sistema de levantamiento actuado (ver figura 9) . Este sistema de control presenta un perfil de velocidad programado que garantice la comodidad del usuario, sin cambios bruscos de velocidad y garantizando velocidades nulas al llegar a los puntos finales de la operación, usuario erguido o sentado. Además incorpora una serie de botones accionables (17) que tienen funciones como regulación de frenos, graduación del sistema de soporte, etc. El sistema de control registra de forma automática la velocidad de las ruedas y de acuerdo a la programación comanda un sistema de frenado de emergencia por velocidad y frenado de operación. El frenado de emergencia se activará al sobrepasar una velocidad del andador previamente establecida. El frenado de operación está asociado a la velocidad de caminado del usuario, siendo un frenado intermitente que al dar un paso el usuario, mientras su pierna está en el aire, las ruedas se bloquean garantizando la estabilidad el mismo, y justo antes de que el talón apoye en el suelo, se liberan las ruedas para que el usuario pueda avanzar. Asi pues este tipo de frenado va asociada a la cadencia de paso del usuario. Figure 4 shows a detailed view of an embodiment of the control box (15). Said control box (15), in which the walker control system is located, has a normally active brake (13) available to the user who commands the wheel lock (2, 3), a control (16 ) that activates the mode of walking, support or sitting / lifting by operating the pins and a possible lifting system operated (see figure 9). This control system has a programmed speed profile that guarantees user comfort, without sudden changes in speed and guaranteeing zero speeds when reaching the endpoints of the operation, upright or seated user. It also incorporates a series of operable buttons (17) that have functions such as brake regulation, support system graduation, etc. The control system automatically records the speed of the wheels and according to the programming commands an emergency braking system for speed and operation braking. Emergency braking will be activated by exceeding a previously established walker speed. The operation braking is associated with the user's walking speed, being an intermittent braking that when the user takes a step, while leg is in the air, the wheels are locked ensuring its stability, and just before the heel rests on the ground, the wheels are released so that the user can move forward. So this type of braking is associated with the rate of passage of the user.
La figura 5 muestra una vista en perspectiva del usuario colocado en el andador y fijado a el mediante un arnés (20) . Dicho arnés (20) a su vez se fija al andador (1) mediante unos elementos (31) que se guian a lo largo de un carril deslizante (33) acoplado al brazo pivotante (14) . Figure 5 shows a perspective view of the user placed in the walker and fixed to it by means of a harness (20). Said harness (20) in turn is fixed to the walker (1) by means of elements (31) that are guided along a sliding rail (33) coupled to the pivoting arm (14).
La figura 6 muestra un ejemplo de realización del sistema de sujeción del usuario (21) al andador (1), siendo ajustable al torso y piernas del usuario por medio de correas y que se conecta a la guia (33) del brazo pivotante (14) por medio de una corredera con saliente roscada en el sistema de sujeción. Dicha unión usuario-andador se realiza a través de un dispositivo tipo arnés (20), con barras (24) de soporte para el torso, ajustadas por correas (22, 23), y unas barras (42) a la altura del fémur ajustadas a las piernas por correas ajustables (25) . Estas barras (42) a la altura del fémur pivotan respecto de las barras de soporte (24) para el torso mediante sendos discos (19) de giro. En el punto de giro de la cadera (41), las barras pivotan entre si, y de este eje una estructura saliente (31) ha de calzar en la guia (33) de la barra pivotante (14), uniendo al usuario con el andador a través de un punto de fijación (27) que permite deslizar a lo largo de guia (33), y en conjunto con la rotación del brazo pivotante (14) se obtiene la libertad para adaptarse a distintos movimientos de sentado, flexión o levantado del usuario (21) al contar el punto de unión (27) con dos grados de libertad en el plano sagital. Figure 6 shows an embodiment of the user fastening system (21) to the walker (1), being adjustable to the torso and legs of the user by means of straps and connected to the guide (33) of the pivoting arm (14 ) by means of a slide with threaded boss on the fastening system. Said user-walker joint is made through a harness type device (20), with torso support bars (24), adjusted by straps (22, 23), and bars (42) at the height of the femur adjusted to the legs by adjustable straps (25). These bars (42) at the height of the femur pivot with respect to the support bars (24) for the torso by means of two rotating discs (19). At the point of rotation of the hip (41), the bars pivot with each other, and from this axis a projecting structure (31) has to fit in the guide (33) of the pivot bar (14), joining the user with the walker through a fixing point (27) that allows sliding along the guide (33), and in conjunction with the rotation of the pivoting arm (14) you get the freedom to adapt to different movements of sitting, flexing or lifting of the user (21) when counting the junction point (27) with two degrees of freedom in the sagittal plane.
Ante la activación de un elemento accionable (17), y una vez desbloqueados los pasadores (34,35), se activan los posibles actuadores (44) que soportan el peso del usuario (21), mientras este puede sentarse con un movimiento natural y adaptable a sus condiciones gracias a los grados de libertad del sistema dados por los brazos pivotantesUpon activation of an operable element (17), and once the pins (34,35) are unlocked, the possible actuators (44) that support the user's weight are activated (21), while it can sit with a natural movement and adaptable to its conditions thanks to the degrees of freedom of the system given by the pivoting arms
(14) y el punto de unión con el sistema de sujeción (27) acoplado en un carril deslizante (33) (ver Fig. 3) . (14) and the point of attachment with the clamping system (27) coupled in a sliding rail (33) (see Fig. 3).
La figura 7 muestra en detalle el elemento basculante del brazo pivotante (14) . Los topes (27, 28) se fijan a presión en la parte superior de la barra vertical (9), ajusfando entre ellos los acoples adaptables (30) y el carro deslizante (12), permitiendo un desplazamiento vertical de máximo +2 cm para una fuerza equivalente a la mitad del peso del usuario. Los brazos pivotantes (14) pivotan en el punto de unión con el carro deslizante (12) a través de una unión con rodamiento y fijada con un anillo de retención. Los brazos pivotantes (14) se conectan con el soporte guia (11) a través de una corredera en el canal de la misma (26) . A su vez, a través de la guia (33) de los brazo pivotantes (14) se desplaza el elemento de unión (31) de los medios de fijación (20) del usuario (21), generalmente un arnés de cintura. Figure 7 shows in detail the tilting element of the pivoting arm (14). The stops (27, 28) are fixed under pressure at the top of the vertical bar (9), adjusting between them the adaptable couplings (30) and the sliding carriage (12), allowing a vertical displacement of maximum +2 cm for a force equivalent to half the weight of the user. The pivoting arms (14) pivot at the junction point with the sliding carriage (12) through a bearing joint and fixed with a retaining ring. The pivoting arms (14) are connected to the guide support (11) through a slide in the channel thereof (26). In turn, through the guide (33) of the pivoting arms (14) the connecting element (31) of the fastening means (20) of the user (21), generally a waist harness, is moved.
La figura 8 muestra en detalle las ruedas (2) que se acoplan a la parte delantera de la estructura del andador (6) por medio de un aditamento tipo codo (36) . Pueden girar sobre un eje (38) como ruedas locas o bloquearse al enclavar un tope mecánico (39) con la estructura del andador. El sistema de frenado (39) se encuentra conectado con la caja de control (15) y regula el bloqueo de la ruedas. Un regulador de velocidad (40) conectado al sistema de control permite evaluar el movimiento del andador e integrar esta señal al sistema de control del andador para ejecutar las acciones necesarias ante distintos movimientos previstos y no previstos. Figure 8 shows in detail the wheels (2) that are coupled to the front part of the structure of the walker (6) by means of an elbow type attachment (36). They can rotate on an axle (38) like crazy wheels or be blocked by locking a mechanical stop (39) with the structure of the walker. The braking system (39) is connected to the control box (15) and regulates the wheel lock. A speed regulator (40) connected to the control system allows to evaluate the movement of the walker and integrate this signal to the walker control system to execute the necessary actions in front of different movements planned and not provided.
La figura 9 muestra un ejemplo de realización de la invención en el que se han incorporado accionadores mecánicos en las guias del soporte guia, que ayudan al usuario en las operaciones de levantado y en la propia estructura de soporte del andador que asisten en la regulación del dispositivo de fijación del usuario. En cuanto a los modos de funcionamiento del andador objeto de la presente invención, se han previsto los siguientes: a) Modo andar, (ver Fig. 1) el brazo pivotante (14) se encuentra en su mínimo ángulo relativo a la vertical (9) y el pasador (34) está activado, bloqueando las rotaciones del brazo pivotante (14) . La pieza de sujeción (31) que conecta la guía (33) con el usuarioFigure 9 shows an embodiment of the invention in which mechanical actuators have been incorporated in the guides of the guide support, which help the user in lifting operations and in the walker's own support structure that assist in the regulation of the user's fixing device. As for the operating modes of the walker object of the present invention, the following are provided: a) Walking mode, (see Fig. 1) the pivoting arm (14) is at its minimum angle relative to the vertical (9 ) and the pin (34) is activated, blocking the rotations of the pivoting arm (14). The clamping piece (31) that connects the guide (33) with the user
(21) o su arnés (20) se encuentra fija por el pasador(21) or its harness (20) is fixed by the pin
(35) (ver Fig. 7) . (35) (see Fig. 7).
Para permitir un movimiento natural del centro de masas del usuario, la pieza deslizante (12) sobre la que rotan los brazos pivotantes (14) permite un desplazamiento vertical debido a que está conectada a los topes superiores (27) e inferiores (28) por medio de elementos adaptables y regulables (30) (ver Fig. 7) . En combinación con el desplazamiento del andador (1), este desplazamiento vertical se traduce en el patrón de curva descrito por el centro de masas de un individuo al caminar. b) Modo soporte, la regulación de los topes (27, 28) que conectan la pieza deslizante (12) permite regular la compresión de los soportes adaptables (30) para así aumentar o disminuir el peso del usuario (21) soportado por el andador (1) . Esta operación puede ser manual, al regular la posición del tope (28) y por ende la carga a soportar por los elementos elásticos, o automática, por medio de un accionador mecánico (44) sujeto a las barras laterales del andador (9) en las configuraciones automatizadas del andador (ver Fig. 9) . ) Modo sentarse/levantarse, se desactivan los pasadores (34,35), permitiendo la rotación de la barra pivotante (14) sobre el eje en la pieza deslizante (12) y, guiado por la pieza soporte (11), este movimiento junto con la posibilidad de que el contacto (27) pueda deslizarse a lo largo de una guia (33) permiten al usuario (21) sentarse o levantarse unido al andador, sin necesidad de compensación de movimiento por parte de las ruedas (2,3) (ver Fig. 3) . La operación de sentarse/levantarse puede realizarse por los medios motores del usuario o haciendo uso de accionadores mecánicos (43) en las guias lineales que controlan la rotación de los brazos pivotantes (14), permitiendo al usuario alcanzar la posición de sentado o levantado de manera controlada y segura (ver Fig. 9) . To allow a natural movement of the user's center of mass, the sliding part (12) on which the pivoting arms (14) rotate allows a vertical displacement because it is connected to the upper (27) and lower (28) stops by medium of adaptable and adjustable elements (30) (see Fig. 7). In combination with the displacement of the walker (1), this vertical displacement results in the curve pattern described by the center of mass of an individual when walking. b) Support mode, the regulation of the stops (27, 28) that connect the sliding part (12) allows to regulate the compression of the adaptable supports (30) in order to increase or decrease the weight of the user (21) supported by the walker (one) . This operation can be manual, by regulating the position of the stop (28) and therefore the load to be supported by the elastic elements, or automatically, by means of a mechanical actuator (44) attached to the side bars of the walker (9) in the automated configurations of the walker (see Fig. 9). ) Sit / stand up mode, the pins (34,35) are deactivated, allowing the rotation of the pivot bar (14) on the shaft in the sliding part (12) and, guided by the support piece (11), this movement together with the possibility that the contact (27) can slide along a guide (33) allow the user (21) to sit or stand together with the walker, without the need for compensation of movement by the wheels (2,3) (see Fig. 3). The sitting / lifting operation can be performed by the user's motor means or by using mechanical actuators (43) in the linear guides that control the rotation of the pivoting arms (14), allowing the user to reach the sitting or raised position of controlled and safe way (see Fig. 9).

Claims

RE IVI DICACIONES RE IVI DICATIONS
1. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, que comprende una estructura de soporte dotada de medios de desplazamiento, un dispositivo de sujeción del usuario al andador y un sistema de bloqueo de los medios de desplazamiento, caracterizado porque la estructura de soporte comprende:1. - Walker with assistance mechanism in lifting and sitting operations of a user, comprising a support structure provided with means of movement, a device for securing the user to the walker and a locking system for the means of movement, characterized because the support structure includes:
- al menos un brazo pivotante que pivota por uno de sus extremos respecto de la estructura de soporte mediante un elemento pivote y que comprende una guia para el desplazamiento del dispositivo de sujeción del usuario a lo largo del brazo; - at least one pivoting arm that pivots at one of its ends with respect to the support structure by means of a pivot element and comprising a guide for the movement of the user holding device along the arm;
al menos un soporte guia, fijado a la estructura de soporte, dotado de topes de desplazamiento en sus extremos que limita el desplazamiento del brazo pivotante en el eje longitudinal del andador; y,  at least one guide support, fixed to the support structure, provided with travel stops at its ends that limits the movement of the pivoting arm on the longitudinal axis of the walker; Y,
- un módulo de control que controla el sistema de bloqueo de los medios de desplazamiento y que comprende medios de selección de un modo de trabajo del andador seleccionado entre modo andar, modo soporte y modo sentarse/levantarse.  - a control module that controls the locking system of the movement means and which comprises means for selecting a working mode of the walker selected from walking mode, support mode and sitting / rising mode.
2. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según la reivindicación2. - Walker with assistance mechanism in lifting and sitting operations of a user, according to claim
1, caracterizado porque el elemento pivote del al menos un brazo pivotante comprende una pieza deslizante que se desliza mediante unos medios deslizantes comprimibles entre un tope inferior regulable y un tope superior regulable, estando la articulación que une el brazo pivotante al elemento pivote en la pieza deslizante. 1, characterized in that the pivot element of the at least one pivoting arm comprises a sliding piece that slides by means of compressible sliding means between an adjustable lower stop and an adjustable upper stop, the joint joining the pivoting arm to the pivoting element in the piece slider
3. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según la reivindicación3. - Walker with assistance mechanism in lifting and sitting operations of a user, according to claim
2, caracterizado porque los medios deslizantes comprenden medios de regulación de la compresión para regular un peso del usuario que soporta la estructura de soporte del andador . 2, characterized in that the sliding means comprise compression adjustment means to regulate a user weight that supports the support structure of the walker.
4. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones 1 a 3, caracterizado porque comprende medios de fijación del al menos un brazo pivotante integrados en el menos un soporte guia y medios de fijación del dispositivo de sujeción del usuario en la guia del al menos un brazo pivotante, para mantener al usuario incorporado cuando se ha seleccionado el modo andar o soporte del andador. 4. - Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of claims 1 to 3, characterized in that it comprises fixing means of the at least one pivoting arm integrated in the at least one guide support and means of fixation of the user support device in the guide of the at least one pivoting arm, to keep the user incorporated when the walking mode or support of the walker has been selected.
5. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones 1 a 4, caracterizado porque comprende accionadores mecánicos en el interior del soporte guia para asistir las operaciones de levantado y sentado del usuario. 5. - Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of claims 1 to 4, characterized in that it comprises mechanical actuators inside the guide support to assist in lifting and sitting operations of the user.
6. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones 4 o 5, caracterizado porque la guia del brazo pivotante comprende medios de fijación del dispositivo de fijación a la parte superior del brazo. 6. - Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of claims 4 or 5, characterized in that the pivoting arm guide comprises means for fixing the fixing device to the upper part of the arm.
7. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones anteriores, caracterizado porque el módulo de control comprende medios de control de la velocidad de los medios de desplazamiento para frenar y bloquear los medios de desplazamiento. 7. - Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of the preceding claims, characterized in that the control module comprises means for controlling the speed of the travel means for braking and blocking the means of displacement.
8. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones anteriores, caracterizado porque comprende actuadores 8. - Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of the preceding claims, characterized in that it comprises actuators
9. - Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones anteriores, caracterizado porque la estructura de sujeción comprende elementos telescópicos integrados en la propia estructura para regular la altura y el área que ocupa sobre la superficie donde apoya. 9. - Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of the preceding claims, characterized in that the Clamping structure comprises telescopic elements integrated in the structure itself to regulate the height and the area it occupies on the surface where it rests.
10.- Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario, según una cualquiera de las reivindicaciones anteriores, caracterizado porque el dispositivo de sujeción del usuario comprende barras de sujeción para el torso y fémur que se ajustan al usuario mediante correas ajustables. 10.- Walker with assistance mechanism in lifting and sitting operations of a user, according to any one of the preceding claims, characterized in that the user holding device comprises clamping bars for the torso and femur that are adjusted to the user by means of straps adjustable.
PCT/ES2013/070689 2012-10-11 2013-10-07 Walker comprising mechanism for assisting a user in standing and sitting operations WO2014057153A1 (en)

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EP13845354.3A EP2907495A4 (en) 2012-10-11 2013-10-07 HELP WITH MECHANISM TO SUPPORT A USER IN STAND AND SEAT OPERATIONS
US14/434,817 US20150265490A1 (en) 2012-10-11 2013-10-07 Walker comprising mechanism for assisting a user in standing and sitting operations

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ES201231567A ES2459866B1 (en) 2012-10-11 2012-10-11 WALKER WITH ASSISTANCE MECHANISM IN SURVEY OPERATIONS AND SITTING OF A USER.
ESP201231567 2012-10-11

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ES2459866A1 (en) 2014-05-12
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US20150265490A1 (en) 2015-09-24
EP2907495A1 (en) 2015-08-19

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